====== Initialization - Zero reference ======
The initialization for the axis motors is the same as [[:motors_init|]] with the additional motor for the TCP.



==== Mechanical Limits of the Tool Center Point Motor ====
The TCP rotation is limited by two metall pins. The maximum turn angle is calculated as follows:\\
{{ :delta:ntb:software:tcp-limit.jpg?300 |TCP limit}}

  sin(γ/2) = r/R
  γ=2*arcsin(r/R)= 0.0600 (rad) = 3.438°
  
That is the value for one side. The other side is identical, so the maximum turn angle is

  β = 2*PI - 2 * 0.06 = 6.16 (rad) ≅ 353°

Zero position is chosen in the middle of the free range.

:!: Make sure that the TCP is properly fixed on the motor shaft. Two tiny screws must be carefully tightened.